一种船舶水尺计重用机器人的研制和应用

Development and Application of a Robot for Draft Survey

为解决运营船舶水尺计重过程中存在耗时长、目测水尺准确度低及新型水尺测量器无法全天候作业等问题,利用经改装的磁吸式履带机器人结合自主研发的可消除波浪影响的测量筒及自浮式摄像头装置,再使其装备水尺图像识别软件,实现水尺计重自动化、一体化。以15船次国际航运船舶为测量对象,与传统目测水尺进行试验对比。结果表明,两种测量方式差异范围在0.003~0.012 m之间,平均差异率为0.038%,符合水尺计重精度的要求,该机器人的应用较传统人工作业可提高效能31%以上。

In order to solve the problems of long time-consuming,low accuracy of visual draft and the inability of all-weather operation of the new measuring devices during draft survey for shipping ships,the modified magnetic suction crawler robot was designed,combining with self-floating camera device and the measuring cylinder which can eliminate the influence of waves,and equipping with the image recognition software.It can realize automation and integration.The measuring robot selected 15 international shipping ships as the measuring object to carry out a comparative test with the traditional draft survey.The data showed that the difference between the two measurements ranges from 0.003 to 0.012 meters,and the average difference rate is 0.038%,which meets the requirements of the accuracy of draft survey;the efficiency of this robot is improved by more than 31%.